CONTROLO 2016 (eBook)

Preface 6
Organization 8
General Chair 8
Vice-Chair 8
Organizing Committee 8
Scientific Committee 9
Contents 12
Control Theory 20
Input-State-Output Representations of Concatenated 2D Convolutional Codes 21
1 Introduction 21
2 Preliminaries 22
3 Input-State-Output Representations of 2D Finite Support Convolutional Codes 24
4 Input-State-Output Representations of Concatenated 2D Convolutional Codes 26
References 30
MDP Periodically Time-Varying Convolutional Codes 31
1 Introduction 31
2 Definitions and Basic Properties 32
3 Periodically Time-Varying Convolutional Codes 34
3.1 MDP (n,2,1) Convolutional Codes 35
4 Conclusions 38
References 38
Periodic Event-Triggered Swing-Up Control of the Inverted Pendulum 40
1 Introduction 40
2 Preliminaries 42
2.1 Event-Based Control 42
2.2 Swing-Up Control Law 42
3 Main Results 43
3.1 Event-Based Swing-Up Strategy 43
3.2 Discrete Implementation 44
4 Application Example 48
5 Conclusions 52
References 52
A Simplified Control Approach for the Neuromuscular Blockade Level 54
1 Introduction 54
2 One Patient-Dependent Parameter Control Law 55
2.1 SISO Wiener Model 55
2.2 Control Law for the NMB Level 56
2.3 Parameter Estimation 57
3 Simulation Results 58
4 Conclusions 59
References 60
Disturbance Rejection Improvement for the Sliding Mode Smith Predictor Based on Bio-inspired Tuning 62
1 Introduction 63
2 Problem Statement 64
2.1 Reviewing Sliding Mode Controller in a Smith Predictor Configuration---SMC-SP 64
2.2 Devising SMC 65
3 SMC-SP Tuned by PSO 67
4 Simulations 68
4.1 Results and Discussion 69
5 Conclusion and Further Work 69
References 75
Quadruple Real Dominant Pole Tuning of a Filtered PID Controller 76
1 Introduction 76
2 Problem Formulation 78
3 Optimal Tuning by QRDP Method 78
3.1 Optimal Tuning for Td> 0, Tn=0
3.2 Optimal Tuning for Td=0, Tn> 0
3.3 Stability Conditions 80
3.4 Equivalence of the Time Delays 81
4 Comparing both Approaches in FO Plant Control 82
5 Conclusions and Future Works 85
References 85
Smith Predictor Tuned Through Fuzzy Fractional PID Controller 87
1 Introduction 87
2 Basics of Fractional Calculus 88
3 Genetic Optimization 89
4 Fuzzy Fractional PD?+I Control 89
5 Numerical Results 92
6 Conclusions 95
References 96
8 The Model-Based Disturbance Rejection with MOMI Tuning Method for PID Controllers 97
Abstract 97
1 Introduction 97
2 MOMI and DRMO Tuning Methods 98
3 Model-Based Disturbance Rejection 100
4 Simulations 103
5 Conclusions 106
Acknowledgments 106
References 106
9 Systemic Coordination Through Numeraires: Initial Simulation Results 108
Abstract 108
1 Introduction 108
2 Basic Concepts of the Paradigm 109
2.1 Numeraires as the Mediating Control Variables for Coordination 109
2.2 Modeling Coordinated Agents 111
3 A Coordinated System ‘Toy’ Example 112
4 Developing a Simulator 113
4.1 Simulation Results 114
5 Conclusions and Perspectives 117
5.1 A Wider Look and an Invitation 117
Acknowledgments 118
References 118
10 Wormhole Approach to Control in Distributed Computing Has Direct Relation to Physics 119
Abstract 119
1 Introduction 119
2 Hybrid Distributed Systems 120
3 Quantum Darwinism 123
4 Discussion 127
5 Conclusion 128
Acknowledgments 128
References 128
A New Robust Control Scheme for LTV Systems Using Output Integral Discrete Synergetic Control Theory 130
1 Introduction 130
2 Problem Formulation and Preliminaries 131
3 Synergetic Control Theory Approach 132
3.1 Proposed Controller 133
3.2 Robust Closed-Loop Stability 133
4 Experiments and Results 136
5 Conclusion 139
References 139
Optimal and Predictive Control 141
Drug Administration Design for Cancer Gompertz Model Based on the Lyapunov Method 142
1 Introduction 142
2 Mathematical Modeling 143
3 Design With Full Model Knowledge 144
4 Adaptive PI Controller 146
4.1 Stability Analysis 147
4.2 Model Parameter Uncertainty 149
4.3 Local Approximation 149
4.4 Simulation Results 150
5 Conclusions 151
References 152
Sampled--Data Model Predictive Control Using Adaptive Time--Mesh Refinement Algorithms 153
1 Introduction 153
2 The Adaptive Mesh Refinement Algorithm for Optimal Control Problems 155
3 The Model Predictive Control Framework 156
4 Application: Parking Manoeuvres 158
5 Conclusions 161
References 162
Efficient Operations at Intermodal Terminals Using a Multi-agent System 164
1 Introduction 164
2 Background 165
3 Control 168
3.1 Basic MPC Formulation 168
3.2 Extended MPC Formulation 169
4 Results 170
5 Conclusions 173
References 174
Model Predictive Control Applied to a Supply Chain Management Problem 175
1 Introduction 176
2 Problem Statement 177
3 Proposed MPC Methodology 178
4 Case Study 182
5 Conclusions 183
References 184
Optimal Control for an Irrigation Problem with Several Fields and Common Reservoir 186
1 Introduction 186
2 The Problem 187
3 Numerical Model for the Irrigation Problem 189
3.1 Rainfall Models 190
3.2 Evapotranspiration Model 190
4 Results 190
5 Conclusion 194
References 195
17 Mechanical Multi-agent Maneuvering Using Noncooperative DMPC 196
Abstract 196
1 Introduction 197
2 Noncooperative Distributed MPC 198
3 DMPC for Decoupled Subsystems with Coordination 199
4 Results 202
5 Conclusions 205
Acknowledgment 207
References 207
A Parametrized NMPC Strategy for Pressure Reducing Valves 208
1 Introduction 208
2 System Models 210
2.1 Simplified Phenomenological Model 210
2.2 Pipes and Gate Valves Models 211
2.3 Simulation Model 212
3 Controller Design 213
3.1 Definitions and Notations 213
3.2 Parametrized NMPC 214
3.3 Optimization Problem 215
4 Simulation Results 215
5 Conclusion and Future Works 218
References 218
Fuzzy, Neural and Genetic Control 219
Fuzzy Kalman Filter Black Box Modeling Approach for Dynamic System with Partial Knowledge of States 220
1 Introduction 220
2 Methodology for Fuzzy Kalman Filter Parametric Estimation 221
2.1 Clustering Algorithm for Antecedent Estimation 221
2.2 The ERA/DC Algorithm Based on Clustering for Consequent Estimation 223
3 Fuzzy Kalman Filter Algorithm 225
4 Computational Results 227
4.1 Description of Nonlinear Dynamic System to Identifie 227
5 Conclusion 229
References 230
20 Neural Network Control Strategies Applied to a DC Motor with a Nonlinear Load 231
Abstract 231
1 Introduction 231
2 System Description 232
2.1 DC Motor Model 232
2.2 Identification of Inverse Dynamics 233
2.3 PID Controller 234
3 Neural Control Strategies 234
3.1 Stabilizing Controller 234
3.2 Reference Adaptive Controller 235
4 Simulation Results 238
4.1 Stabilizing Controller 238
4.2 Reference Adaptive Controller 239
5 Conclusions 241
Acknowledgments 241
References 241
21 Grey Wolf, Gravitational Search and Particle Swarm Optimizers: A Comparison for PID Controller Design 242
Abstract 242
1 Introduction 242
2 Grey Wolf Optimization Fundamental Issues 244
3 PID Controller Design: Problem Statement 246
4 Algorithms Implementation Issues 246
5 Simulation Results and Discussion 247
6 Conclusion 251
References 251
Modeling and Identification 253
Construction of Confidence Sets for Markov Chain Model 254
1 Introduction 254
2 Dynamics of System States Probabilities 255
3 Estimation of Transition Probabilities 256
4 Construction of Confidence Sets 257
4.1 Multistage System with Uncertainty 257
4.2 Confidence Estimates for Matrix Rows 258
4.3 Simulation Method 260
5 Conclusion 263
References 263
Monitoring and Simulation of Gas Pipelines Through Quadripole Models 265
1 Introduction 265
2 Junction Equations 266
3 Leakage Detection 268
4 Case Study 269
5 Conclusion and Future Work 273
References 273
Data Based Modeling of a Large Scale Water Delivery System 275
1 Introduction 275
2 Artificial Neural Networks 276
3 Results and Discussion 277
3.1 System Configuration 277
3.2 Database 278
3.3 System Delay 279
3.4 Model Parameterization, Training and Validation 279
3.5 Modeling Results 280
4 Conclusions 283
References 284
PDE Model for Leakage Detection in High Pressure Gas Networks 285
1 Introduction 285
2 Mathematical Model 286
3 Leakage Detection in a Single Pipe 289
4 Leakage Detection in the Grid 290
5 Illustrative Example 293
6 Conclusions and Further Work 294
References 295
Sensing and Estimation 296
Sensorless Nonlinear Control of Fed-Batch Escherichiacoli Cultivation Bioprocess Using the State-Dependent Approach 297
1 Introduction 298
2 E.coli Bioprocess Modeling 299
3 Estimator Design 300
3.1 Extended Kalman Estimator 301
3.2 State-Dependent Riccati Estimator 301
3.3 Simulation Results 302
4 State-Dependent Riccati Equation Control 303
4.1 State-Dependent Coefficient Form (SDCF) 304
4.2 Simulation Results 304
5 Conclusion 306
References 307
27 Velocity and Brightness Control in Prototype for Blood Type Determination 309
Abstract 309
1 Introduction 309
2 Velocity and Brightness Control 311
2.1 Brightness Control 311
2.2 Velocity Control 314
3 Developed Prototype and Software 315
4 Conclusions and Future Work 317
References 318
28 Development of Soft Sensors Based on Analytical and Spectral Data on a Real Small Size Wastewater Treatment Plant 320
Abstract 320
1 Introduction 321
2 WWTP Characteristics and Data Collection 322
3 Soft Sensors Development 323
3.1 Soft Sensors Based on Analytical Data 324
3.2 Soft Sensors Based on Spectral Data 326
3.3 Soft Sensors Comparison 328
4 Conclusion 329
Acknowledgments 329
References 330
29 Solar Pyramidal Sensor 331
Abstract 331
1 Introduction 331
2 Models for Predicting Solar Radiation on Tilted Surfaces 333
2.1 Radiation Components 333
3 The Sensor Architecture 334
3.1 Geometrical Shape 334
3.2 Radiation Estimation 336
3.3 Electronic System 337
4 Experimental Results 338
5 Conclusions 339
References 340
Actuator Fault Detection and Isolation Based on Multiple-Model Adaptive Estimation (MMAE) 341
1 Introduction 341
2 Actuators Fault Model 342
3 Multiple-Model Adaptive Estimation (MMAE) 343
3.1 Posterior Probability Evaluator (PPE) 344
3.2 Convergence Properties 345
4 Multiple-Model Bank Design 345
4.1 Equivalently Identified Plants (EIP) 345
4.2 Equivalent Kalman Filter Dynamics 346
4.3 Independent Bank Design per Actuator 346
4.4 Design Procedure 347
4.5 Design Results 348
5 Experiments on Simulation Environment 349
6 Conclusions 352
References 352
Robotics 354
Wheels for Staircases 355
1 Introduction 356
2 Pairing Roads and Wheels 357
2.1 The Mathematics of the Rolling Motion 357
3 Building a Wheel for the Staircase 358
3.1 Building the Portion of the Wheel for the First Step 359
3.2 Constructing the Wheel Piece by Piece 360
3.3 Making Sure that the Wheel Closes 361
4 The Main Result 362
5 Conclusion 364
References 364
32 Imitate Me!—Preliminary Tests on an Upper Members Gestures Recognition System 366
Abstract 366
1 Introduction 367
2 Proposed System 368
2.1 Experimental Setup 368
2.2 System Description 369
2.2.1 Human Position and Kinect 370
2.2.2 Kinect Filter 370
2.2.3 Obtaining Angles and Normalization 371
2.2.4 Communication and Protocol 372
2.2.5 Interface 373
3 Results 374
4 Final Remarks 375
Acknowledgments 376
References 376
33 Happiness and Sadness Recognition System—Preliminary Results with an Intel RealSense 3D Sensor 377
Abstract 377
1 Introduction 378
2 Proposed System 379
2.1 Experimental Setup 379
2.2 Facial Features Extraction 380
3 Experimental Results 383
3.1 Database Construction 383
3.2 Training a Support Vector Machine (SVM) 383
3.3 Results Evaluation 384
4 Conclusions and Future Work 386
Acknowledgments 386
References 386
34 A Simple Control Approach for Stereotactic Neurosurgery Using a Robotic Manipulator 388
Abstract 388
1 Introduction 389
2 Surgical Technique Description 390
3 Materials and Methods 392
3.1 Robotic System 392
3.2 Registration 392
3.3 Coordinate Convention 394
3.4 Robotic Motions 395
3.5 High-Level Control Scheme 395
4 Procedure Execution 396
5 Conclusions 398
References 399
35 Motion Control of Mobile Autonomous Robots Using Non-linear Dynamical Systems Approach 400
Abstract 400
1 Introduction 401
2 RoboCup’s Middle Size League 401
3 Robotic Platform and World Modelling 402
4 Theoretical Approach and Considerations 404
4.1 Direction of Navigation 406
4.2 Robot’s Velocity 408
5 Practical Application and Results 409
6 Conclusion 411
Acknowledgment 411
References 412
Autonomous UAV Outdoor Flight Controlled by an Embedded System Using Odroid and ROS 413
1 Introduction 413
2 Related Works 414
3 System Description 415
3.1 Hardware Integration 415
3.2 Framework Development 417
4 Results 419
4.1 Simulation with Hardware in the Loop 420
4.2 Outdoor Flight with Real UAV 422
5 Conclusions 426
References 426
37 Tracking of Physiotherapy Exercises Using Image Processing Techniques 428
Abstract 428
1 Introduction 428
2 Neurological Diseases 429
3 Physical Therapy 430
4 Image Processing 432
5 Motion Tracking of Physical Therapy Exercises 432
6 Final Remarks 436
Acknowledgments 436
References 437
Inside Pipe Inspection: A Review Considering the Locomotion Systems 438
1 Introduction 438
2 In-Pipe Inspection Robot---PIG Locomotion System 440
3 Wheeled Locomotion Systems 441
4 Track-Type Robots 442
5 Snake-Like Locomotion Systems 443
6 Inch-Worm Locomotion System 443
7 Discussions 444
References 445
Mechatronics 448
39 SmartBath: A New Bathing Concept for Disabled People 449
Abstract 449
1 Introduction 450
2 Related Work 450
3 New Approach of Medical Device 452
4 Proposed Control System 455
5 Final Remarks 457
Acknowledgments 457
References 457
40 A New Approach for Dynamic Analysis of Overhead Crane Systems Under Moving Loads 459
Abstract 459
1 Introduction 459
2 Dynamics of Bridge Crane System 460
3 Simulation Results and Discussions 464
4 Conclusions 468
Acknowledgments 468
References 468
41 CMOS Transducer with Linear Response Using Negative Capacity that Can Be Used in Mechatronic Systems for Force Measurement in Human Walking Analysis and in the Future in MEMS and NEMS Applications 470
Abstract 470
1 Introduction and Rationale 471
1.1 Structure of the Paper and Objectives 471
1.2 Study Area and Previous Work 471
1.3 Materials and Method for CMOS Capacitive Transducer 472
2 Oscillator Design Details 472
3 The Negative Capacitance Circuit 475
4 Results 478
5 Conclusions 480
References 481
42 Behavior of the Elastomers Used in Prehension Systems for Small Cylindrical Objects 482
Abstract 482
1 Introduction 483
2 Experimental Procedure and Equipments 484
3 Determination of the Young’s Modulus for Elastomer 485
4 Experimental Results on Friction Behavior of Elastomer 487
4.1 Friction Coefficients 487
4.2 Friction Forces and Dissipated Energy 488
5 Analytical Model for Friction Force 489
6 Conclusions 491
References 492
Manufacturing Systems and Scheduling 493
43 Collaborative Portal for Supporting Manufacturing Resources Selection in a Global Market 494
Abstract 494
1 Introduction 495
2 Ubiquitous Manufacturing System 495
3 Collaborative Resources Selection in a UMS 497
4 Portal for Technologies Integration 499
4.1 Interfaces to Interact with Businesses 500
4.2 Distributed Knowledge Base and Control 502
5 Conclusion 504
Acknowledgments 504
References 504
44 A Simulation Platform Prototype for Evaluating Alternative Scenarios of Members Integration in Virtual Organizations 505
Abstract 505
1 Introduction 506
2 Definition of the Proposed Platform 506
3 Conclusion 514
Acknowledgments 514
References 514
Formal Analysis of an Urban Road Traffic Model 516
1 Introduction 517
2 Road Traffic Modeling 518
3 Testing and Simulation 519
4 Formal Validation of the Model 520
5 Conclusions 521
References 526
Vibration Control 528
46 Brain Emotional Learning Based Control of a SDOF Structural System with a MR Damper 529
Abstract 529
1 Introduction 530
2 Brain Emotional Learning Controller 530
3 Numerical Simulations 532
4 Results 536
5 Conclusions 539
References 539
47 Pendulum TMD’s in Building Vibration Control 540
Abstract 540
1 Introduction 540
2 Theoretical Background and Pendulum Equations 542
2.1 Background on TMDs for SDOF Systems 542
2.2 Background on TMDs for MDOF Systems, with One Degree Equivalencies 543
2.3 Background on Pendulum Equations 544
3 Application of a Pendulum TMD to Calibration Frames 546
3.1 Pendulum TMD on SDOF and MDOF Shear Frames 546
3.2 Pendulum TMD on a MDOF Real Tower of a Transmission Tower Test Site 548
4 Conclusions 550
References 550
48 Fuzzy Based Control of a Vehicle Suspension System Using a MR Damper 551
Abstract 551
1 Introduction 552
2 Vehicle Suspension System 552
3 MR Damper 554
4 Fuzzy Logic Controller 556
5 Numerical Simulation 558
6 Conclusions 560
Acknowledgments 560
References 561
49 Milling Parameters Optimization for Surface Quality 562
Abstract 562
1 Introduction 562
2 Design of Experiments and Experimentation 563
3 Results 565
4 Data Analysis and Discussion 566
4.1 Analysis of the Signal-to-Noise Ratio 568
4.2 Analysis of Variance 569
5 Conclusions 571
References 571
Applications in Agricultural Systems 573
Automation and Control in Greenhouses: State-of-the-Art and Future Trends 574
1 Introduction 574
2 State of the Art 576
2.1 Greenhouse---Modeling 577
2.2 Greenhouse---Sensors, Control and Energy Optimization 577
2.3 Greenhouse---Robotics 578
3 Future Trends: Water and Nutrient Management 579
4 Final Notes 580
References 581
A New Plant Growth System Rig Based on Thermodynamic Solar Energy: A Study for Energy Efficiency Assessment 584
1 Introduction 585
2 Problem Description 586
3 The Fuzzy Controller 589
4 Cost Analysis and Economic Viability 591
5 Conclusion 592
References 593
Model Predictive Control of a Conveyor-Based Drying Process Applied to Cork Stoppers 594
1 Introduction 594
2 Related Work 595
3 System Architecture 596
3.1 System Modelling 596
3.2 State Representation Model 598
3.3 Model Predictive Control 600
4 Experimental Validation 601
4.1 Simulated Environment 601
4.2 Drying Machine Test 602
5 Discussion and Future Work 603
References 604
Robust Control of Agroindustrial Drying Process of Grains Based on Sliding Modes and Gravitational Search Algorithm 605
1 Introduction 605
2 Problem Statement 607
2.1 Devising SMC 608
3 Gravitational Search Algorithm 610
3.1 Materials and Methods 611
4 Results and Discussion 612
5 Conclusion and Further Work 614
References 614
Power Systems Applications 616
54 Model Predictive Current Control of a Slow Battery Charger for Electric Mobility Applications 617
Abstract 617
1 Introduction 618
2 Predictive Current Control 619
3 Simulations Results 621
3.1 Phase-Locked Loop Algorithm 622
3.2 Grid-to-Vehicle Operation Mode 623
3.3 Vehicle-to-Grid Operation Mode 623
4 System Implementation 624
5 Experimental Results 625
6 Conclusions 625
Acknowledgments 626
References 626
55 Comprehensive Analysis and Comparison of Digital Current Control Techniques for Active Rectifiers 628
Abstract 628
1 Introduction 629
2 Active Rectifier: Principle of Operation 629
3 Digital Current Control Algorithms 631
3.1 Proportional-Integral (PI) in Stationary Frame 631
3.2 Proportional-Integral in Synchronous Frame 631
3.3 Proportional-Integral Sinewave (PIS) 632
3.4 Feedforward 633
3.5 Sliding Mode 633
3.6 Predictive 634
4 Analysis and Comparison 635
5 Conclusions 638
Acknowledgments 638
References 638
56 Digital Control of a Novel Single-Phase Three-Port Bidirectional Converter to Interface Renewables and Electric Vehicles with the Power Grid 640
Abstract 640
1 Introduction 641
2 Proposed Single–Phase Three–Port Bidirectional Converter 642
3 Digital Control Algorithm Analysis 642
3.1 Power Theory 643
3.2 Predictive Current Control 645
4 Simulations and Experimental Results 646
5 Conclusions 649
Acknowledgments 650
References 650
57 Model Predictive Control of an On-Board Fast Battery Charger for Electric Mobility Applications 651
Abstract 651
1 Introduction 652
2 Predictive Control 653
3 Simulation Results 656
3.1 Grid-to-Vehicle Operation Without Reactive Power Compensation 656
3.2 Grid-to-Vehicle Operation with Reactive Power Compensation 657
4 System Implementation 658
5 Experimental Results 659
6 Conclusions 660
Acknowledgments 660
References 660
58 Family Houses Energy Consumption Forecast Tools for Smart Grid Management 662
Abstract 662
1 Introduction 663
2 State of the Art 663
3 Methodologies 664
3.1 ANN 664
3.2 GRG 666
4 Case Studies 667
4.1 Case 1 667
4.2 Case 2 668
5 Conclusion 669
Acknowledgments 669
References 669
59 Renewable Energy System for an Isolated Sustainable Social Centre 671
Abstract 671
1 Introduction 672
2 Architecture of the Power Converters 673
2.1 Full-Bridge Isolated DC-DC Converter 674
2.2 Full-Bridge DC-AC Converter 675
3 Control Algorithms Architecture 675
3.1 Control of the Full-Bridge Isolated DC-DC Converter 676
3.2 Control of the Full-Bridge DC-AC Converter 677
4 Experimental Validation 679
5 Conclusions 680
Acknowledgments 681
References 681
60 Evaluation of the Introduction of Electric Vehicles in the Power Grid—A Study for the Island of Maio in Cape Verde 682
Abstract 682
1 Introduction 683
2 Power Grid of the Island of Maio in Cape Verde 684
2.1 Description of the Power Grid Structure 685
2.2 Description of the Different Battery Chargers 686
3 Simulation of the Power Grid Operation 688
3.1 Power Grid Without EVs 689
3.2 Power Grid with EVs 689
4 Conclusion 692
Acknowledgments 692
References 693
61 OpenADR—Intelligent Electrical Energy Consumption Towards Internet-of-Things 694
Abstract 694
1 Introduction 695
2 OpenADR 696
2.1 Functionalities Available for Stakeholders Interaction 697
2.2 Security 698
2.3 VEN—Virtual End Node 698
2.4 VTN—Virtual Top Node 699
2.5 Electric Vehicle as a UPS 700
3 Implementation of an OpenADR Infrastructure with RaspberryPi(S) Towards Internet of Things 700
4 Conclusions 703
References 704
General Applications 706
62 A Low-Cost ZigBee-Based Wireless Industrial Automation System 707
Abstract 707
1 Introduction 707
2 Legacy Wired System 708
3 Developed Wireless System 710
3.1 ZigBee Network 711
3.2 Network Hardware and Software 711
3.3 Refrigeration Equipments 712
3.4 Central Station 713
4 Results and Discussion 713
5 Conclusions 716
Acknowledgments 716
References 716
63 Comparative Analysis of Gain-Scheduled Wheel Slip Reset Controllers with Different Reset Strategies in Automotive Brake Systems 718
Abstract 718
1 Introduction 719
2 Problem Statement 720
3 Brake Dynamic Model 721
3.1 Vehicle Model 721
3.2 Tire-Road Interaction 722
3.3 Model Characteristics 723
4 Controllers and Design Criteria 724
5 Simulation Results 726
6 Conclusion 727
Acknowledgments 727
Bibliography 728
64 Design and Development of Control System for Railway Cable Laying 729
Abstract 729
1 Introduction 729
2 Problem Statement 731
3 Design and Implementation of the Regulator 733
3.1 System Identification 733
3.2 Regulator Design 734
3.3 Implementation of a PID in the PLC 735
4 Results 736
5 Conclusion 737
Acknowledgments 738
References 738
65 Mobile Sensing System for Cycling Power Output Control 739
Abstract 739
1 Introduction 739
2 System Overview 740
3 Smartphone Application 743
4 Results and Discussion 745
5 Conclusions 748
Acknowledgments 749
References 749
66 Automatic Control of Madeira Wine Aging Process 750
Abstract 750
1 Introduction 750
2 Selection of the Sampling Period 751
3 Development of ARX Models for System Identification 752
3.1 Order of the Models 752
3.2 Analysis of the Developed Models 753
4 Development of the Control Structure 754
4.1 Response Step Analysis 756
4.2 Simulation Analysis 756
5 Controller Implementation in the Real System 757
6 Conclusions 759
Acknowledgments 760
References 760
67 Study of Quality Service in AIS Gateway System 761
Abstract 761
1 Introduction 761
2 Maritime Transport 763
3 Automatic Identification System 764
4 NMEA-AIS Gateway System 765
4.1 Hardware Implementation 765
4.2 Software Development 766
5 Measuring the Quality of Service 766
5.1 QoS System Performance 766
5.2 Measuring the QoS 767
5.3 Measuring the Delay Time 767
6 QoS Results 768
7 Conclusions 770
References 770
68 Realization of PID Controllers in Analog Reconfigurable Hardware 772
Abstract 772
1 Introduction 772
2 FPAA/dpASP Technology 773
3 PID Controller and Tuning 775
4 Application Examples 777
4.1 Example 1 777
4.2 Example 2 779
5 Conclusions 781
Acknowledgments 782
References 782
69 Speed Control of an Experimental Pneumatic Engine 784
Abstract 784
1 Introduction 784
2 System Modelling 785
2.1 Air Supply Valve 786
2.2 Pneumatic Engine 786
3 Control Structures 787
3.1 Feedback Control 788
3.2 Cascade Control 788
3.3 Model Free Control 789
4 Results and Discussion 790
5 Conclusions 791
References 792
70 Design and Implementation of a PI Controller for a Metal Casting Machine 793
Abstract 793
1 Introduction 794
2 Existing System Architecture 795
3 Architecture of the Developed System 796
4 Implementation of the Proposed Solution 797
4.1 Controller Tuning Process 799
5 Tests Performed and Results Achieved 799
6 Conclusions and Possible Future Developments 802
Acknowledgments 803
References 803
Education 804
71 Control Engineering Learning by Integrating App-Inventor Based Experiments 805
Abstract 805
1 Introduction 805
2 MIT App Inventor: Revision of Selected Topics 806
3 Description and Contextualization of the Learning Experiment 808
3.1 Learning Experiment Goal 808
3.2 Course Characterization 808
3.3 Learning Experiment Planning and Procedure 809
4 Students’ Applications: Some Examples 810
5 Students’ Feedback 810
5.1 Material and Method 811
5.2 Questionnaire Results Analysis 812
6 Final Remarks and Constrains of the Study 814
Acknowledgments 814
References 815
72 Inverted Pendulum Controlled by an Analog PID Controller: A Framework for a Laboratorial Experiment 816
Abstract 816
1 Introduction 817
2 Proposed System 818
2.1 Learning Outcomes and Project Goal 818
2.2 Mathematical Model 818
2.3 Experimental Setup 818
2.4 System Description 820
3 Results 823
4 Conclusions 825
Acknowledgments 825
References 826
Online Control of TOS1A Thermo-Optical Plant Using OpenModelica 827
1 Introduction 827
2 Thermo-Optical Plant 828
3 OpenModelica Environment 829
4 Communication with USB Based Plant 830
4.1 Arduino---Serial 830
4.2 PySerial 830
4.3 Libusb 831
4.4 PyUSB 831
4.5 Library Selection 831
4.6 Realization 832
5 Graphical User Interface 833
6 Conclusions 835
References 835
DC Motor Educational Kit: A Teaching Aid in Control Theory 837
1 Introduction 838
2 Modeling of the EMG30 Geared Motor 838
3 Laboratory Control Experiment 841
4 Laboratory Control Experiment Evaluation 843
5 Conclusions 846
References 847